AI alignment aims to make AI systems behave in line with human intentions and values. As
AI systems grow more capable, the potential large-scale risks associated with misaligned AI …

A key challenge in intelligent robotics is creating robots that are capable of directly
interacting with the world around them to achieve their goals. The last decade has seen …

The incredible feats of athleticism demonstrated by humans are made possible in part by a
vast repertoire of general-purpose motor skills, acquired through years of practice and …

We present a framework for building interactive, real-time, natural language-instructable
robots in the real world, and we open source related assets (dataset, environment …

While behavior learning has made impressive progress in recent times, it lags behind
computer vision and natural language processing due to its inability to leverage large …

Foundation models pretrained on diverse data at scale have demonstrated extraordinary
capabilities in a wide range of vision and language tasks. When such models are deployed …

Synthesizing graceful and life-like behaviors for physically simulated characters has been a
fundamental challenge in computer animation. Data-driven methods that leverage motion …

In reinforcement learning (RL), it is easier to solve a task if given a good representation.
While deep RL should automatically acquire such good representations, prior work often …

Imitation learning from human demonstrations has shown impressive performance in
robotics. However, most results focus on table-top manipulation, lacking the mobility and …

We demonstrate that models trained only in simulation can be used to solve a manipulation
problem of unprecedented complexity on a real robot. This is made possible by two key …